🚀 go-pugleaf

I've recently seen mention of a fuzzy logic demonstration that utilized
its power of control to balance the inverted pendulum.  I am currently a
4th-year senior at RIT, and am enrolled in a class called Real Time
Systems.  In it we are required to develop an electro-mechanical gizmo
which utilitzes a closed loop feedback control system etc.  I am
currently implementing the inverted pendulum problem as my project.  I
was wondering how I would go about implementing fuzzy logic to control
the system.  Here is an overview of how the system is constructed.

Currently, I have a pendulum mounted to a platform which can be moved
back and forth by way of DC motor.  On top of this platform is a fixed
axle which limits the pendulum to only 1 degree of movement.  Attached
to the axle is a low friction pot which I use to determine what the
present angle of the pendulum is.  By sampling this angular position and
feeding it into a 68HC11, I then determine what the present angular
velocity of the pendulum is based on its prior position, and then output
the appropriate command voltage to the motor depending on which way the
pendulum is falling. (NOTE: the PID inside the computer is simplified as
to say that it accomplishes its task)

How would I go about implementing this system using Fuzzy logic instead
of the usual matrix based discrete system solution.  Any insight into
this "fuzzy" world would be most appreciative.

Regards,
Mark Dochtermann (MXD7977)

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To Sig or not to Sig, that is the question